Skip to content

Fix optimal plan frame id #5572

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 3 commits into from
Oct 1, 2025
Merged

Fix optimal plan frame id #5572

Changes from 2 commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
e2fb543
Fix optimal plan frame id
eegeugur Oct 1, 2025
6ee2a99
Remove Whitespaces.
eegeugur Oct 1, 2025
ac729ff
Fix linting error
eegeugur Oct 1, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 6 additions & 1 deletion nav2_mppi_controller/src/controller.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -116,11 +116,16 @@ geometry_msgs::msg::TwistStamped MPPIController::computeVelocityCommands(
#endif

if (publish_optimal_trajectory_ && opt_traj_pub_->get_subscription_count() > 0) {

std_msgs::msg::Header trajectory_header;
trajectory_header.stamp = cmd.header.stamp;
trajectory_header.frame_id = costmap_ros_->getGlobalFrameID();

auto trajectory_msg = utils::toTrajectoryMsg(
optimal_trajectory,
optimizer_.getOptimalControlSequence(),
optimizer_.getSettings().model_dt,
cmd.header);
trajectory_header);
opt_traj_pub_->publish(std::move(trajectory_msg));
}

Expand Down
Loading